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Version 1.1.0 (May 16, 2016)

Quick Start Guide

High power stepper motor driver expansion board based on

powerSTEP01 for STM32 Nucleo

(X-NUCLEO-IHM03A1)

Quick Start Guide Contents2

X-NUCLEO-IHM03A1: high power stepper motor driver expansion board

Hardware and Software overview

Setup & Demo Examples

Documents & Related Resources

STM32 Open Development Environment: Overview

Arduino UNO R3 connector

High-power stepper motor driver expansion board

Hardware overview 3

X-NUCLEO-IHM03A1 Hardware Description

• The X-NUCLEO-IHM03A1 is a high power stepper

motor driver expansion board based on

powerSTEP01. The fully digital control of the

motion through speed profile generation, adding

positioning calculations and a complete set of

protection features, offer high levels of

performance and robustness.

• The X-NUCLEO-IHM03A1 is compatible with the

Arduino UNO R3 connector, and supports the

addition of other boards which can be stacked to

drive up to three stepper motors using a single

STM32 Nucleo board.

powerSTEP01

ST morpho connector*

Key Products on board

powerSTEP01

System-in-package integrating micro stepping

controller and 10 A power MOSFETs

Supply and motor connector

Latest info available at www.st.com

X-NUCLEO-IHM03A1


Software overview 4

X-CUBE-SPN3 software description

• This X-CUBE-SPN3 is an software expansion for

STM32Cube used to recognize powerSTEP01

devices and to enable development of

applications using it. The software comes with an

example implementation of the drivers to control

one stepper motor. It is compatible with

NUCLEO-F401RE, NUCLEO-F334R8,

NUCLEO-F030R8 or NUCLEO-L053R8

development boards.

Key features

• Complete middleware (driver layer) to build

applications using the powerSTEP01 device,

which is integrated on the X-NUCLEO-IHM03A1

expansion board

• Examples to control one stepper motor

• Easy portability across different MCU families

thanks to STM32Cube

• Free, user-friendly license terms Last info available at www.st.com

X-CUBE-SPN3

Overall Software Architecture

Hardware Abstraction Layer API Boards Support Packages

Drivers

powerSTEP01 use examples for 1, 2 or 3 motors

Board Demonstrators

STM32 Nucleo Board

HW Components

STM32

CMSIS

powerSTEP01

X-NUCLEO-IHM03A1 Expansion Board(s)

HAL and BSP level examples







Setup & demo examples

Hardware prerequisites• 1x STM32 Nucleo development board

(NUCLEO-F401RE or NUCLEO-F334R8 or NUCLEO-F030R8 or NUCLEO-L053R8)

• 1x high power stepper motor driver expansion board for each high power stepper motor (up to

three) (X-NUCLEO-IHM03A1)

• Up to three stepper motors

• 1x Laptop/PC with MS Windows 7 or 8

• 1x external DC power supply with two electric cables (*)

• 1x USB type A to mini-B USB cable

6

(*) Power stage supply voltage from 10.5 V to 50 V

Mini USB Cable

NUCLEO-F401RE

NUCLEO-L053R8

NUCLEO-F334R8

NUCLEO-F030R8

Stepper MotorX-NUCLEO-IHM03A1

Setup & demo examples

Software prerequisites

• STSW-LINK008: ST-LINK/V2-1 USB driver

• STSW-LINK007: ST-LINK/V2-1 firmware upgrade

• A Windows PC with one of the supported development tool chains:

• KEIL: MDK-ARM

• IAR: EWARM

• GCC-based IDE: System Workbench for STM32

• X-CUBE-SPN3: firmware

7


Start coding in just a few minutes with X-CUBE-SPN3 8

1 Set the X-NUCLEO-IHM03A1 configuration jumpers as follows:

• R3 and R8 Closed (0-Ohm resistors)

• R4, R5, R6 and R7 Open

Driving one stepper motor with X-NUCLEO-IHM03A1 and X-CUBE-SPN3

2 Stack the X-NUCLEO-IHM03A1 on the STM32 Nucleo

board using the Arduino UNO R3 connector and

connect the stepper motor (A+/- and B+/-) and the

power supply (VIN\GND) to the CN1 connector.

3 Connect the STM32 Nucleo board to the PC through the USB cable.

Motor

http://www.st.com/openmems



4 Depending on your STM32 Nucleo board, from the examples folder

(\stm32_cube\Projects\Multi\Examples\MotionControl\IHM03A1_ExampleFor1Motor)

open the software project from:

• \YourToolChainName\STM32F401RE-Nucleo for Nucleo based on STM32F401

• \YourToolChainName\STM32F334R8-Nucleo for Nucleo based on STM32F334


• \YourToolChainName\STM32L053R8-Nucleo for Nucleo based on STM32L053

5 Open the file:

stm32_cube\Drivers\BSP\Components\powerstep01\powerstep01_target_config.h.

and modify the parameters which are post fixed by “_DEVICE_0” according to your target

configuration.

6 Build the project and download it into the STM32 memory.

7 Run the example. The motor automatically starts (see main.c for a detailed

demo sequence).



1 Set the Motor#1 X-NUCLEO-IHM03A1 configuration

jumpers as follows:



Set the Motor#2 X-NUCLEO-IHM03A1 configuration

jumpers as follows:

• R4 and R8 Closed (0R resistors)


Driving two stepper motors with X-NUCLEO-IHM03A1 and X-CUBE-SPN3

2 Stack the X-NUCLEO-IHM03A1 on the Nucleo board

using the Arduino UNO R3 connector:

• Motor#1 board on top of Nucleo board

• Motor#2 board on top of Motor#1 board

and connect the stepper motors and the power supply

to the CN1 connector.

3Connect the STM32 Nucleo board to the PC using the USB cable.

Motor 1 Motor 2





(\stm32_cube\Projects\Multi\Examples\MotionControl\IHM03A1_ExampleFor2Motors)


• \YourToolChainName\STM32F401RE-Nucleo for Nucleo STM32F401

• \YourToolChainName\STM32F334R8-Nucleo for Nucleo STM32F334

• \YourToolChainName\STM32F030R8-Nucleo for Nucleo STM32F030

• \YourToolChainName\STM32L053R8-Nucleo for Nucleo STM32L053

5 Open the file:


and modify the parameters according to your target configuration:

• Values post fixed by “_DEVICE_0” refers to Motor#1




demo sequence).



1Set the Motor#1 X-NUCLEO-IHM03A1 configuration

jumpers as follows:




jumpers as follows:




jumpers as follows:



Driving three stepper motor with X-NUCLEO-IHM03A1 and X-CUBE-SPN3

2Stack the X-NUCLEO-IHM03A1 on the STM32 Nucleo board

using the Arduino UNO R3 connector:

• Motor#1 board on top of Nucleo board



and connect the stepper motors and the power supply to the

CN1 connector.

3Connect the STM32 Nucleo board to the PC using the USB cable.

Motor 1 Motor 2 Motor 3





(\stm32_cube\Projects\Multi\Examples\MotionControl\IHM03A1_ExampleFor3Motors)


• \YourToolChainName\STM32F401RE-Nucleo for Nucleo based on STM32F401



• \YourToolChainName\STM32L053R8-Nucleo for Nucleo based on STM32L053

5 Open the file:


and modify the parameters according to your target configuration:






demo sequence).

Documents & related resources

X-NUCLEO-IHM03A1:

• DB2476: High-power stepper motor driver expansion board based on powerSTEP01 for STM32 Nucleo – Data

brief

• UM1910: Getting started with high power stepper motor driver expansion board based on powerSTEP01 for STM32

Nucleo – User manual

• Gerber files, BOM, and schematics

X-CUBE-SPN3:

• DB2512: High-power stepper motor driver software expansion for STM32Cube- Data brief

• UM1911: Getting started with the X-CUBE-SPN3, high-power stepper motor driver software expansion for

STM32Cube – User manual

• Software setup file

14

All documents are available in the DESIGN tab of the related products webpage

Consult www.st.com for the complete list







STM32 Open Development Environment

Fast, affordable Prototyping and Development 16

• The STM32 Open Development Environment (ODE) consists of a set of stackable boards

and a modular open SW environment designed around the STM32 microcontroller family.

www.st.com/stm32ode

Function Packs

(FP)

STM32Cube

development software

STM32 Nucleo

expansion boards

(X-NUCLEO)

STM32 Nucleo

development boards

STM32Cube

expansion software

(X-CUBE)

Power supply

through USB or

external source

Integrated debugging

and programming

ST-LINK probe

STM32 microcontroller

Complete product range

from ultra-low power to high-performance

ST morpho extension header

STM32 Nucleo

Development Boards (NUCLEO)

• A comprehensive range of affordable development boards for all the STM32

microcontroller series, with unlimited unified expansion capabilities and integrated

debugger/programmer functionality.

17

www.st.com/stm32nucleo

Arduino™ UNO R3 extension headers

Move/ActuatePower InteractConnect

Sense

STM32 Nucleo

Expansion Boards (X-NUCLEO)

• Boards with additional functionality that can be plugged directly on top of the STM32

Nucleo development board directly or stacked on another expansion board.

18

DIL24 support for

new devices

Motion MEMS sensors

Environmental sensors

www.st.com/x-nucleo

Example of STM32 expansion board (X-NUCLEO-IKS01A1)


Software components

• STM32Cube software (CUBE) - A set

of free tools and embedded software bricks

to enable fast and easy development on

the STM32, including a Hardware

Abstraction Layer and middleware bricks.

• STM32Cube expansion software

(X-CUBE) - Expansion software provided

free for use with the STM32 Nucleo

expansion board and fully compatible with

the STM32Cube software framework. It

provides abstracted access to expansion

board functionality through high-level APIs

and sample applications.

19

www.st.com/x-cube

• Compatibility with multiple Development Environments - The STM32 Open Development

Environment is compatible with a number of IDEs including IAR EWARM, Keil MDK, and GCC-based

environments. Users can choose from three IDEs from leading vendors, which are free of charge and

deployed in close cooperation with ST. These include Eclipse-based IDEs such as Ac6 System

Workbench for STM32 and the MDK-ARM environment.

Tools& IDEs

Application examples(e.g. basedonSTOpenSoftwareX)

Hardware

SampleapplicationsApplications

IAREWARM,Keil MDK-ARM,GCC-basedIDEs(e.g. Ac6System Workbenchfor STM32)

STM32CubeHardware Abstraction Layer (HAL)

STM32Cubemiddleware

Upper level middleware(e.g. STOpenSoftwareX)

Middleware

HardwareAbstraction

STM32Cubeexpansion middleware

STM32 Nucleo expansion boards (X-NUCLEO)

STM32 Nucleo developer boards

OPEN LICENSE MODELS: STM32Cube software and sample applications are covered by a

mix of fully open source BSD license and ST licenses with very permissive terms.

www.st.com/stm32cube


Building block approach 20

The building blocks Your need Our answer

Move /

Actuate

Connect

Power

Sense

Process

Inertial modules, magnetometer

Proximity, microphone

Pressure, temperature, humidity

Bluetooth LE, Sub-GHz radio

NFC, Wi-Fi, GNSS

Energy management & battery

General-purpose microcontrollers

Stepper motor driver

DC & BLDC motor driver

Audio amplifier

COLLECT

TRANSMIT

ACCESS

CREATE

POWER

PROCESS

Software

Secure microcontrollers

Touch controller

Operation Amplifier

Accelerometer, gyroscope

Translate

Industrial input / output

www.st.com/stm32ode

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